sleipnir.optimization Namespace Reference

Classes
class	DynamicsType
class	EqualityConstraints
class	ExitStatus
class	InequalityConstraints
class	IterationInfo
class	OCP
class	Problem
class	TimestepMethod
class	TranscriptionMethod

Functions
InequalityConstraints	bounds (float l, Variable x, float u)
InequalityConstraints	bounds (float l, Variable x, int u)
InequalityConstraints	bounds (float l, Variable x, Variable u)
InequalityConstraints	bounds (float l, Variable x, VariableMatrix u)
InequalityConstraints	bounds (float l, Variable x, VariableBlock u)
InequalityConstraints	bounds (float l, VariableMatrix x, float u)
InequalityConstraints	bounds (float l, VariableMatrix x, int u)
InequalityConstraints	bounds (float l, VariableMatrix x, Variable u)
InequalityConstraints	bounds (float l, VariableMatrix x, VariableMatrix u)
InequalityConstraints	bounds (float l, VariableMatrix x, VariableBlock u)
InequalityConstraints	bounds (float l, VariableBlock x, float u)
InequalityConstraints	bounds (float l, VariableBlock x, int u)
InequalityConstraints	bounds (float l, VariableBlock x, Variable u)
InequalityConstraints	bounds (float l, VariableBlock x, VariableMatrix u)
InequalityConstraints	bounds (float l, VariableBlock x, VariableBlock u)
InequalityConstraints	bounds (int l, Variable x, float u)
InequalityConstraints	bounds (int l, Variable x, int u)
InequalityConstraints	bounds (int l, Variable x, Variable u)
InequalityConstraints	bounds (int l, Variable x, VariableMatrix u)
InequalityConstraints	bounds (int l, Variable x, VariableBlock u)
InequalityConstraints	bounds (int l, VariableMatrix x, float u)
InequalityConstraints	bounds (int l, VariableMatrix x, int u)
InequalityConstraints	bounds (int l, VariableMatrix x, Variable u)
InequalityConstraints	bounds (int l, VariableMatrix x, VariableMatrix u)
InequalityConstraints	bounds (int l, VariableMatrix x, VariableBlock u)
InequalityConstraints	bounds (int l, VariableBlock x, float u)
InequalityConstraints	bounds (int l, VariableBlock x, int u)
InequalityConstraints	bounds (int l, VariableBlock x, Variable u)
InequalityConstraints	bounds (int l, VariableBlock x, VariableMatrix u)
InequalityConstraints	bounds (int l, VariableBlock x, VariableBlock u)
InequalityConstraints	bounds (Variable l, Variable x, float u)
InequalityConstraints	bounds (Variable l, Variable x, int u)
InequalityConstraints	bounds (Variable l, Variable x, Variable u)
InequalityConstraints	bounds (Variable l, Variable x, VariableMatrix u)
InequalityConstraints	bounds (Variable l, Variable x, VariableBlock u)
InequalityConstraints	bounds (Variable l, VariableMatrix x, float u)
InequalityConstraints	bounds (Variable l, VariableMatrix x, int u)
InequalityConstraints	bounds (Variable l, VariableMatrix x, Variable u)
InequalityConstraints	bounds (Variable l, VariableMatrix x, VariableMatrix u)
InequalityConstraints	bounds (Variable l, VariableMatrix x, VariableBlock u)
InequalityConstraints	bounds (Variable l, VariableBlock x, float u)
InequalityConstraints	bounds (Variable l, VariableBlock x, int u)
InequalityConstraints	bounds (Variable l, VariableBlock x, Variable u)
InequalityConstraints	bounds (Variable l, VariableBlock x, VariableMatrix u)
InequalityConstraints	bounds (Variable l, VariableBlock x, VariableBlock u)
InequalityConstraints	bounds (VariableMatrix l, Variable x, float u)
InequalityConstraints	bounds (VariableMatrix l, Variable x, int u)
InequalityConstraints	bounds (VariableMatrix l, Variable x, Variable u)
InequalityConstraints	bounds (VariableMatrix l, Variable x, VariableMatrix u)
InequalityConstraints	bounds (VariableMatrix l, Variable x, VariableBlock u)
InequalityConstraints	bounds (VariableMatrix l, VariableMatrix x, float u)
InequalityConstraints	bounds (VariableMatrix l, VariableMatrix x, int u)
InequalityConstraints	bounds (VariableMatrix l, VariableMatrix x, Variable u)
InequalityConstraints	bounds (VariableMatrix l, VariableMatrix x, VariableMatrix u)
InequalityConstraints	bounds (VariableMatrix l, VariableMatrix x, VariableBlock u)
InequalityConstraints	bounds (VariableMatrix l, VariableBlock x, float u)
InequalityConstraints	bounds (VariableMatrix l, VariableBlock x, int u)
InequalityConstraints	bounds (VariableMatrix l, VariableBlock x, Variable u)
InequalityConstraints	bounds (VariableMatrix l, VariableBlock x, VariableMatrix u)
InequalityConstraints	bounds (VariableMatrix l, VariableBlock x, VariableBlock u)
InequalityConstraints	bounds (VariableBlock l, Variable x, float u)
InequalityConstraints	bounds (VariableBlock l, Variable x, int u)
InequalityConstraints	bounds (VariableBlock l, Variable x, Variable u)
InequalityConstraints	bounds (VariableBlock l, Variable x, VariableMatrix u)
InequalityConstraints	bounds (VariableBlock l, Variable x, VariableBlock u)
InequalityConstraints	bounds (VariableBlock l, VariableMatrix x, float u)
InequalityConstraints	bounds (VariableBlock l, VariableMatrix x, int u)
InequalityConstraints	bounds (VariableBlock l, VariableMatrix x, Variable u)
InequalityConstraints	bounds (VariableBlock l, VariableMatrix x, VariableMatrix u)
InequalityConstraints	bounds (VariableBlock l, VariableMatrix x, VariableBlock u)
InequalityConstraints	bounds (VariableBlock l, VariableBlock x, float u)
InequalityConstraints	bounds (VariableBlock l, VariableBlock x, int u)
InequalityConstraints	bounds (VariableBlock l, VariableBlock x, Variable u)
InequalityConstraints	bounds (VariableBlock l, VariableBlock x, VariableMatrix u)
InequalityConstraints	bounds (VariableBlock l, VariableBlock x, VariableBlock u)
	multistart (solve, initial_guesses)

Function Documentation

bounds() [1/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		Variable	x,
		float	u
	)

Helper function for creating bound constraints.

Parameter ``l``:
    Lower bound.

Parameter ``x``:
    Variable to bound.

Parameter ``u``:
    Upper bound.

bounds() [2/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		Variable	x,
		int	u
	)

bounds() [3/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		Variable	x,
		Variable	u
	)

bounds() [4/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		Variable	x,
		VariableBlock	u
	)

bounds() [5/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		Variable	x,
		VariableMatrix	u
	)

bounds() [6/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableBlock	x,
		float	u
	)

bounds() [7/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableBlock	x,
		int	u
	)

bounds() [8/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableBlock	x,
		Variable	u
	)

bounds() [9/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableBlock	x,
		VariableBlock	u
	)

bounds() [10/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableBlock	x,
		VariableMatrix	u
	)

bounds() [11/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableMatrix	x,
		float	u
	)

bounds() [12/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableMatrix	x,
		int	u
	)

bounds() [13/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableMatrix	x,
		Variable	u
	)

bounds() [14/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableMatrix	x,
		VariableBlock	u
	)

bounds() [15/75]

InequalityConstraints sleipnir.optimization.bounds	(	float	l,
		VariableMatrix	x,
		VariableMatrix	u
	)

bounds() [16/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		Variable	x,
		float	u
	)

bounds() [17/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		Variable	x,
		int	u
	)

bounds() [18/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		Variable	x,
		Variable	u
	)

bounds() [19/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		Variable	x,
		VariableBlock	u
	)

bounds() [20/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		Variable	x,
		VariableMatrix	u
	)

bounds() [21/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableBlock	x,
		float	u
	)

bounds() [22/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableBlock	x,
		int	u
	)

bounds() [23/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableBlock	x,
		Variable	u
	)

bounds() [24/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableBlock	x,
		VariableBlock	u
	)

bounds() [25/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableBlock	x,
		VariableMatrix	u
	)

bounds() [26/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableMatrix	x,
		float	u
	)

bounds() [27/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableMatrix	x,
		int	u
	)

bounds() [28/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableMatrix	x,
		Variable	u
	)

bounds() [29/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableMatrix	x,
		VariableBlock	u
	)

bounds() [30/75]

InequalityConstraints sleipnir.optimization.bounds	(	int	l,
		VariableMatrix	x,
		VariableMatrix	u
	)

bounds() [31/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		Variable	x,
		float	u
	)

bounds() [32/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		Variable	x,
		int	u
	)

bounds() [33/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		Variable	x,
		Variable	u
	)

bounds() [34/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		Variable	x,
		VariableBlock	u
	)

bounds() [35/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		Variable	x,
		VariableMatrix	u
	)

bounds() [36/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableBlock	x,
		float	u
	)

bounds() [37/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableBlock	x,
		int	u
	)

bounds() [38/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableBlock	x,
		Variable	u
	)

bounds() [39/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableBlock	x,
		VariableBlock	u
	)

bounds() [40/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableBlock	x,
		VariableMatrix	u
	)

bounds() [41/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableMatrix	x,
		float	u
	)

bounds() [42/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableMatrix	x,
		int	u
	)

bounds() [43/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableMatrix	x,
		Variable	u
	)

bounds() [44/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableMatrix	x,
		VariableBlock	u
	)

bounds() [45/75]

InequalityConstraints sleipnir.optimization.bounds	(	Variable	l,
		VariableMatrix	x,
		VariableMatrix	u
	)

bounds() [46/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		Variable	x,
		float	u
	)

bounds() [47/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		Variable	x,
		int	u
	)

bounds() [48/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		Variable	x,
		Variable	u
	)

bounds() [49/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		Variable	x,
		VariableBlock	u
	)

bounds() [50/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		Variable	x,
		VariableMatrix	u
	)

bounds() [51/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableBlock	x,
		float	u
	)

bounds() [52/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableBlock	x,
		int	u
	)

bounds() [53/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableBlock	x,
		Variable	u
	)

bounds() [54/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableBlock	x,
		VariableBlock	u
	)

bounds() [55/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableBlock	x,
		VariableMatrix	u
	)

bounds() [56/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableMatrix	x,
		float	u
	)

bounds() [57/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableMatrix	x,
		int	u
	)

bounds() [58/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableMatrix	x,
		Variable	u
	)

bounds() [59/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableMatrix	x,
		VariableBlock	u
	)

bounds() [60/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableBlock	l,
		VariableMatrix	x,
		VariableMatrix	u
	)

bounds() [61/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		Variable	x,
		float	u
	)

bounds() [62/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		Variable	x,
		int	u
	)

bounds() [63/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		Variable	x,
		Variable	u
	)

bounds() [64/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		Variable	x,
		VariableBlock	u
	)

bounds() [65/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		Variable	x,
		VariableMatrix	u
	)

bounds() [66/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableBlock	x,
		float	u
	)

bounds() [67/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableBlock	x,
		int	u
	)

bounds() [68/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableBlock	x,
		Variable	u
	)

bounds() [69/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableBlock	x,
		VariableBlock	u
	)

bounds() [70/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableBlock	x,
		VariableMatrix	u
	)

bounds() [71/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableMatrix	x,
		float	u
	)

bounds() [72/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableMatrix	x,
		int	u
	)

bounds() [73/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableMatrix	x,
		Variable	u
	)

bounds() [74/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableMatrix	x,
		VariableBlock	u
	)

bounds() [75/75]

InequalityConstraints sleipnir.optimization.bounds	(	VariableMatrix	l,
		VariableMatrix	x,
		VariableMatrix	u
	)

multistart()

sleipnir.optimization.multistart	(		solve,
			initial_guesses
	)

Solves an optimization problem from different starting points in parallel,
then returns the solution with the lowest cost.

Each solve is performed on a separate thread. Solutions from successful
solves are always preferred over solutions from unsuccessful solves, and
cost (lower is better) is the tiebreaker between successful solves.

Parameter ``solve``:
    A user-provided function that takes a decision variable initial guess
    and returns a MultistartResult.

Parameter ``initial_guesses``:
    A list of decision variable initial guesses to try.